Control Theory

Fundamental concepts for feedback control systems.

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Contents

Topic	Description
P-Control	Proportional control basics

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Quick Reference

P-Control:

correction = Kp × error

PI-Control:

correction = Kp × error + Ki × ∫error dt

PID-Control:

correction = Kp × error + Ki × ∫error dt + Kd × d(error)/dt

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Lab Connections

Lab	Control Concept
Lab 03	P-control for line following
Lab 04	P-control for heading hold
Lab 06	Data-driven Kp tuning